CN108362308A - A kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld - Google Patents
A kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld Download PDFInfo
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- CN108362308A CN108362308A CN201810054838.7A CN201810054838A CN108362308A CN 108362308 A CN108362308 A CN 108362308A CN 201810054838 A CN201810054838 A CN 201810054838A CN 108362308 A CN108362308 A CN 108362308A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention relates to a kind of mobile laser measurement system mileage bearing calibrations using tunnel circumferential weld, this method identifies the longitudinal spliced gap of tunnel ring-shaped sheet from the orthography that original point cloud generates, so that it is determined that ring plate quantity, the distance between arbitrary two circumferential welds are determined in conjunction with ring plate width, and finally mileage is corrected according to the distance between circumferential weld.Compared with prior art, the present invention has many advantages, such as that easy to operate, acquisition reference point is more.
Description
Technical field
The present invention relates to laser measurement mileages to correct field, more particularly, to a kind of mobile Laser Measuring using tunnel circumferential weld
Amount system mileage bearing calibration.
Background technology
The safety monitoring of subway tunnel be ensure metro safety operation important prerequisite, with monitoring technology it is continuous into
There are many new monitoring means in step, and mobile laser measuring technique is because its labor intensity is small, measurement period is short, data precision
Height obtains the advantages that information is comprehensive, is more and more applied in urban subway tunnel monitoring, however in closed underground
In environment, due to that GPS cannot be used to be positioned, inconvenience is brought to the position data obtained along tunnel axis direction, at present
The mobile laser measurement system of majority is by installing odometer and Inertial Measurement Unit (Inertial measurement unit, letter
Claim IMU) solve the problems, such as the acquisition of axis coordinate, but there is accumulated error in odometer and IMU, can be produced after exercising over long distances
Raw large error, if can there is the accurate mark in some positions to be carried out as reference to the distance that odometer or IMU are measured
If amendment, then the influence of accumulated error can be controlled.
The two-dimensional cross-section point for being one-line scanning instrument, can only obtaining in scan line of mobile laser measurement system installation itself
Cloud will obtain the point cloud data of three dimensions, calibration must just be carried out to the position and attitude of scanner and before measuring system
Record displacement distance in real time during, however the sensors such as odometer, IMU due to obtaining displacement distance in tunnel are all deposited
In accumulated error, cause to will produce larger axial error after travelling over long distances, to influence the essence of the three-dimensional point cloud obtained
Degree.The approach for improving this problem is exactly that the distance recorded to odometer is corrected, and there are two types of methods at present：(1) using complete
The instruments such as instrument, tracker of standing directly measure the position in scanning system moving process, and the position of itself and odometer record is carried out
Reflector plate is pasted in comparison (2) on tunnel ring-shaped sheet, using reflector plate as mark writing scan system position, then with the position and
The position data of odometer is compared.
Mileage correction principle：
It is considered that the measurement error of mileage is directly proportional to operating range, i.e., in relatively short distance：
Wherein S is measurement distance,For actual range, k is proportional error coefficient.Timing, by known one section of reference away from
From valueAnd its measuring value S can acquire error coefficient in conjunction with (1) formula
Then the value after any distance correction is
1. total powerstation, tracker correction principle：
Reflecting prism is installed on mobile laser measurement vehicle first, uses the coordinate (x1, y1, z1) of total station survey prism
And the reading A1 of odometer at this time is recorded, it measures after vehicle travels a distance, measuring prism coordinate (x2, y2, z2) and remembers again
Mileage A2 is recorded, then uses (2) formula that can calculate to obtain error coefficient
The corrected value of any distance can be calculated by bringing (3) formula into.
Tracker is similar with total powerstation bearing calibration, and difference is that tracker measurement frequency is much higher by total powerstation, at one
The position of mobile laser measurement vehicle can be obtained in survey station to being continuously tracked.
2. reflector plate correction principle：
Reflector plate measurement of coordinates：Tunnel ring-shaped sheet different location paste reflector plate and in reflector plate centre mark it is one small
Then circle aims at reflector plate center using total powerstation and measures to obtain coordinate (fx1, fy1, fz1), (fx2, fy2, fz2), then
Reference distance
Reflector plate central point extracts：The reflector plate coordinate measured by total powerstation can calculate between two reflector plate central points
Reference distance, but due to mileage points can not be mapped with reflector plate central point lead to not directly determine central point it
Between chainage, but arrived in point cloud because mileage is also finally reflection, it is possible to by from uncorrected original
Perception reflex piece carrys out indirect gain chainage in point cloud.Since the reflectivity of reflector plate is higher, can will be reflected in scanner
The point that intensity is more than certain threshold value extracts (specific size of threshold value is different because of scanner models, needs measuring), so
European cluster carried out to the point that extracts afterwards, under theoretical case, each point clustering is the point on one group of reflector plate, practical
In situation there is also other be not reflector plate point high intensity points cloud composition cluster, but due to reflector plate range measurement vehicle compared with
Closely, the point quantity of reflector plate cluster is generally more, and therefore, clustering is sorted from big to small according to the quantity at cluster midpoint,
And point set of preceding 2 clusters as reflector plate surface is taken, then each point set in clustering is sought into center of gravity, it is believed that it is reflector plate mark
Point cloud coordinate at pinwheel dot.The point cloud at two reflector plate centers is indicated with (px1, py1, pz1), (px2, py2, pz2)
Coordinate is, then the chainage between two reflector plates
Here being instead of space length with plan range may be inconsistent because of two reflector plate height, and short distance internal rail
Road height difference variation and very little, it is possible to which they are regarded as plane.
Mileage corrects：
Bring (5), (6) formula into (2), (3) formula can calculate the correction mileage of any point.
The shortcomings that current methods：
In existing tunnel mileage bearing calibration, either total powerstation or reflector plate method, correction course is all excessively
It is cumbersome, it not only needs directly to measure reference distance using measuring instrument, but also the reference point quantity obtained is also relatively
It is few, although the position coordinates for measuring trolley can be continuously acquired in a survey station using tracker, measured in actual job
Trolley constantly advances, and must often travel stretch journey if continuing to obtain reference distance and removes station and remeasures, this is aobvious
So reduces operating efficiency and increase labor intensity.In addition, in tunnel corner, measure trolley traveling is one section of curve
Distance, the straight line between a small number of reference points or fold line distance cannot accurately reflect the practical distance passed by of trolley at this time；In the gradient
Bigger section is replaced being also unreasonable in space with plan range.
Invention content
Tunnel circumferential weld is utilized it is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of
Mobile laser measurement system mileage bearing calibration, using tunnel ring-shaped sheet splicing have degree of precision (general precision is in mm
Grade), the feature that ring plate width is fixed determines ring plate quantity by circumferential weld, then again with circumferential weld calculatings as a reference point refer to away from
From.This method avoid use what the reference points such as reflector plate, prism brought to remove station problem；Overcome the larger ground of curvature, the gradient
(tunnel ring-shaped sheet width is generally less than 2m to the problem of square reference distance inaccuracy, is believed that track is straight line, ring plate paving in short distance
Set with parallel track, be not present space length On The Projection)；It can be provided more during entire tunnel scanning operation
Accurate distance reference.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld, this method are generated from original point cloud
The longitudinal spliced gap of tunnel ring-shaped sheet is identified in orthography, so that it is determined that ring plate quantity, arbitrary two are determined in conjunction with ring plate width
The distance between circumferential weld, is finally corrected mileage according to the distance between circumferential weld.
Preferably, the method includes the following steps：
(1) tunnel point cloud conic projection；
(2) point cloud chart picture generates；
(3) circumferential weld identifies；
(4) mileage corrects.
Preferably, the step (1) includes the following steps：
(11) mobile laser measurement system obtains tunnel point cloud initial data in a manner of profile scanning；
(12) scan line of a cloud is extracted；
(13) center of circle is calculated using random sampling unification algorism after extracting scan line, then to be vertically downward
Initial line counterclockwise calculates the deflection each put in scan line；Finally to put the arc length for having arrived initial line tunnel as after being unfolded
The ordinate of point cloud.
Preferably, the scan line that (12) extract a cloud is specially：
Since the scanning angle of laser scanner is less than 360 degree, so tunnel bottom has part not have point cloud data, scanning
Point will appear a distance jump here, be extracted scan line using this jump.
Preferably, the point cloud chart picture, which generates, uses inverse distance weighted interpolation method.
Preferably, the inverse distance weighted interpolation method specifically includes following steps：
(21) grid processing is carried out to the point cloud of expansion first；
(22) and then retrieval is away from the point in grid element center setpoint distance, and to be that power calculates to the inverse of grid element center distance
The strength weighted average value of these points, using this average value as the value of the grid；
(23) grid intensity value is normalized to 0~255 after total-grid calculates, is using grid as pixel finally
Produce point cloud chart picture.
Preferably, depending on the size of the grid is according to point cloud density, twice of scan line spacings are taken.
Preferably, the setpoint distance takes 2~3 times of grid width.
Preferably, the step (3) includes the following steps：
(31) gradient of the point cloud chart as X direction is calculated first；
(32) and then to gradient along y direction it accumulates；
(33) there are positive and negative two peak points at circumferential weld in accumulative image, the two peak points show respectively gray value by
It arrives greatly at small and ascending variation, i.e. the left and right side edge of circumferential weld, using the midpoint of positive and negative peak point as the position of circumferential weld.
Preferably, the step (4) includes the following steps：
(41) circumferential weld is set as L0, L1 ..., Ln, according to point cloud chart as the mapping relations of generating process point cloud and pixel are reversed
Find out corresponding cloud of circumferential weld；
(42) center of gravity (rx of every circumferential weld point cloud is found out0,ry0,rz0)、(rx1,ry1,rz1)…(rxn,ryn,rzn), then
The original mileage of L0 to LnIf ring plate width is D, then reference distance
(43) formula is brought intoWithMileage can be corrected；Wherein S is original mileage,For
Reference distance, k are proportional error coefficient.
Compared with prior art, the present invention has the following advantages：
1. the feature fixed with degree of precision (general precision is at mm grades), ring plate width using the splicing of tunnel ring-shaped sheet,
Ring plate quantity is determined by circumferential weld, then again with circumferential weld calculating reference distance as a reference point.This method avoid use reflection
What the reference points such as piece, prism were brought removes station problem.
2. overcoming the problem of the larger local reference distance inaccuracy of curvature, the gradient, (tunnel ring-shaped sheet width is generally less than
2m, it is believed that track is straight line in short distance, ring plate paving set with parallel track, space length On The Projection is not present)
3. accurate distance reference can be provided during entire tunnel scanning operation.
Description of the drawings
Fig. 1 is the measurement of coordinates principle schematic using total powerstation timing；
Fig. 2 is the reflector plate scanning element schematic diagram using reflector plate timing；
Fig. 3 is the reflector plate extraction algorithm flow chart using reflector plate timing；
Fig. 4 is the scan line extraction algorithm flow chart of the present invention；
Fig. 5 is the point cloud scan line of the present invention；
Fig. 6 is the original tunnel point cloud schematic diagram of the present invention；
Fig. 7 is the point cloud schematic diagram after the planar development of the present invention；
Fig. 8 is the point cloud chart picture within the scope of 30~60 degree of the present invention；
Fig. 9 is the point cloud gradient image of the present invention；
Figure 10 is the close-up schematic view in the portions A of Fig. 9 of the present invention；
Figure 11 is the circumferential weld recognition result schematic diagram of the present invention；
Figure 12 is the close-up schematic view in the portions B of Figure 11 of the present invention.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is a part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work should all belong to the model that the present invention protects
It encloses.
As shown in figs. 4 through 10, a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld, including it is following
Step：
(1) tunnel point cloud conic projection；(2) point cloud chart picture generates；(3) circumferential weld identifies；(4) mileage corrects.
The step (1) includes the following steps：
As shown in figs. 4-7, present invention is primarily about the bearing calibrations of mileage, and the calibration of sensor is not the present invention
Emphasis swept with section so it is assumed herein that mobile laser measurement system has been completed the staking-out work of scanner
The mode retouched obtains tunnel point cloud initial data.Next need to extract the scan line of a cloud, scan line extracting method with
Point cloud scan mode, storage order are related, here by most common sequential scan, sequential storage it is orderly put cloud for, due to
The scanning angle of laser scanner is often below 360 degree, thus tunnel bottom some there is no point cloud data, scanning element is at this
In will appear one distance jump, scan line can be extracted using this jump；It is used after scan line is extracted
Random sampling unification algorism (Random Sample Consensus, abbreviation RANSAC) calculates the center of circle, then to be vertically downward
It plays initial line and counterclockwise calculates the deflection each put in scan line；Finally to put the arc length for having arrived initial line tunnel as after being unfolded
The ordinate of road point cloud.
The step (2) includes the following steps：
The generation of point cloud chart picture has used inverse distance weighted interpolation method (Inverse Distance Weighted, abbreviation
IDW), i.e., carrying out grid processing to the point cloud of expansion first (depending on the size of grid is according to point cloud density, can generally take two
Times scan line spacings), then retrieve that (distance can take 2~3 times of grid wide away from the point in grid element center certain distance
Degree), and to be to weigh the strength weighted average value for calculating these points to the inverse of grid element center distance, using this average value as the net
Grid intensity value is normalized to 0~255 after total-grid calculating, can finally be given birth to using grid as pixel by the value of lattice
At point cloud chart picture, as shown in Figure 8.
The step (3) includes the following steps：
Since the laser reflectivity of circumferential weld is relatively low compared to ring plate, so circumferential weld gray value is also smaller in image, but by
It is uneven in the intensity profile of point cloud chart picture, so circumferential weld can not be isolated simply by gray scale, Grads threshold.But note
Anticipating to circumferential weld is all approximately perpendicular in the picture and has obvious grey scale change at circumferential weld, it is possible to pass through ladder
The method of degree statistics identifies that circumferential weld, concrete operations are：Gradient of the point cloud chart as X direction is calculated first, then to gradient along vertical
Axis direction is accumulated, and accumulative image will appear positive and negative two peak points at circumferential weld, the two peak values show respectively gray scale
It is worth at descending and ascending variation, i.e. the left and right side edge of circumferential weld, the midpoint of positive and negative peak point can be as the position of circumferential weld
It sets, as shown in figs9-12.
The step (4) includes the following steps：
(41) circumferential weld is set as L0, L1 ..., Ln, according to point cloud chart as the mapping relations of generating process point cloud and pixel can be with
Reversely find out corresponding cloud of circumferential weld；
(42) center of gravity (rx of every circumferential weld point cloud is found out0,ry0,rz0)、(rx1,ry1,rz1)…(rxn,ryn,rzn), then
The original mileage of L0 to LnIf ring plate width is D, then reference distance
(43) formula is brought intoWithMileage can be corrected.Wherein S is original mileage,For
Reference distance, k are proportional error coefficient.
The key principle of the mileage bearing calibration of the present invention：
1. mileage correcting process：
During measuring trolley and obtaining tunnel point cloud, without additionally setting up reflector plate as mileage reference mark,
Without using the small truck position of total station survey, it is only necessary to demarcate normal acquisition point cloud data after related sensor.Field operation
After using tunnel circumferential weld extraction algorithm identify circumferential weld from cloud, the quantity of ring plate is determined according to the quantity of circumferential weld,
The reference distance between circumferential weld is calculated in conjunction with ring plate width gauge, then between calculating head and the tail circumferential weld according to circumferential weld point cloud coordinate
Chainage, finally chainage and reference distance is utilized to carry out mileage correction.
2. tunnel circumferential weld extraction algorithm：
It is exactly the identification to tunnel circumferential weld to realize that the mileage without additional reference mark corrects its core, and the present invention proposes a kind of
The circumferential weld extraction algorithm of longitudinal gradient accumulation, image size are M*N pixel；
C1 (i, x)=grad (i.x)
Tunnel point cloud is launched into plane along axis first, planar point cloud interpolation is generated into grating image using IDW methods,
Then by the transverse gradients of the adjacent grey scale pixel value subtraction calculations point cloud chart picture in left and right, longitudinal accumulation shape is carried out to gradient
At gradient cumulative chart, every circumferential weld shows as similar two peak values on cumulative chart, is finally made with the midpoint of the two peak values
For the location of pixels of circumferential weld, respective point cloud can also be corresponded to by circumferential weld location of pixels.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (10)
1. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld, which is characterized in that this method is from original
The longitudinal spliced gap of identification tunnel ring-shaped sheet in the orthography that point cloud generates, so that it is determined that ring plate quantity, in conjunction with ring plate width
It determines the distance between arbitrary two circumferential welds, finally mileage is corrected according to the distance between circumferential weld.
2. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 1, special
Sign is that the method includes the following steps：
(1) tunnel point cloud conic projection；
(2) point cloud chart picture generates；
(3) circumferential weld identifies；
(4) mileage corrects.
3. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 2, special
Sign is that the step (1) includes the following steps：
(11) mobile laser measurement system obtains tunnel point cloud initial data in a manner of profile scanning；
(12) scan line of a cloud is extracted；
(13) center of circle is calculated using random sampling unification algorism after extracting scan line, then to be initial line vertically downward
Counterclockwise calculate the deflection each put in scan line；Finally to put the arc length for having arrived initial line tunnel point cloud as after being unfolded
Ordinate.
4. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 3, special
Sign is that the scan line that (12) extract a cloud is specially：
Since the scanning angle of laser scanner is less than 360 degree, so tunnel bottom has part not have point cloud data, scanning element to exist
It will appear a distance jump herein, extracted scan line using this jump.
5. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 2, special
Sign is that the point cloud chart picture, which generates, uses inverse distance weighted interpolation method.
6. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 5, special
Sign is that the inverse distance weighted interpolation method specifically includes following steps：
(21) grid processing is carried out to the point cloud of expansion first；
(22) and then retrieval is away from the point in grid element center setpoint distance, and to be that power calculates these to the inverse of grid element center distance
The strength weighted average value of point, using this average value as the value of the grid；
(23) grid intensity value is normalized to 0~255 after total-grid calculates, can finally be given birth to using grid as pixel
At point cloud chart picture.
7. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 6, special
Sign is, depending on the size foundation point cloud density of the grid, takes twice of scan line spacings.
8. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 7, special
Sign is that the setpoint distance takes 2~3 times of grid width.
9. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 2, special
Sign is that the step (3) includes the following steps：
(31) gradient of the point cloud chart as X direction is calculated first；
(32) and then to gradient along y direction it accumulates；
(33) there are positive and negative two peak points at circumferential weld in accumulative image, the two peak points show respectively gray value by greatly to
At small and ascending variation, i.e. the left and right side edge of circumferential weld, using the midpoint of positive and negative peak point as the position of circumferential weld.
10. a kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld according to claim 2, special
Sign is that the step (4) includes the following steps：
(41) circumferential weld is set as L0, L1 ..., Ln, according to point cloud chart as the mapping relations of generating process point cloud and pixel are reversely found out
Corresponding cloud of circumferential weld；
(42) center of gravity (rx of every circumferential weld point cloud is found out0,ry0,rz0)、(rx1,ry1,rz1)…(rxn,ryn,rzn), then L0 is arrived
The original mileage of LnIf ring plate width is D, then reference distance
(43) formula is brought intoWithMileage can be corrected；Wherein S is original mileage,For reference
Distance, k are proportional error coefficient.
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| CN110660094A (en) * | 2019-09-23 | 2020-01-07 | 上海市建筑科学研究院 | Subway tunnel mobile scanning point cloud fine division method based on image recognition |
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| CN115597569A (en) * | 2022-10-31 | 2023-01-13 | 上海勃发空间信息技术有限公司（Cn） | Method for measuring relative position relation between pile and ship by using section scanner |
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